CN111419156B

CN111419156B - Binocular stereo microscope endoscope system

Info

Publication number: CN111419156B
Application number: CN202010266157.4A
Authority: CN
Inventors: 闫润民; 苏新文; 吉慧军; 姜红振
Original assignee: Fourth Medical Center General Hospital of Chinese PLA
Current assignee: Fourth Medical Center General Hospital of Chinese PLA
Priority date: 2020-04-07
Filing date: 2020-04-07
Publication date: 2023-03-21
Anticipated expiration: 2040-04-07
Also published as: CN111419156A

Abstract

The invention relates to the technical field of medical instruments and provides a binocular stereo micro-endoscope system. The binocular stereo microscope endoscope system comprises: an image processing component; the binocular component comprises a pair of eyepieces which are arranged in parallel and have adjustable pupil distance, and the pair of eyepieces are electrically connected with the image processing component; the stereoscopic endoscope assembly comprises a lens component and a bendable endoscope body component, the lens component is provided with a specific lens inclination angle and is electrically connected with the image processing assembly, the front end of the lens component faces a target observation point, and the endoscope body component is connected to the rear end of the lens component. The binocular stereoscopic micro-endoscope system can meet the operation requirements of different operation areas with irregular shapes, and enables an operator to have stereoscopic vision feeling, so that the operation is more convenient, precise and accurate.

Description

Binocular stereo microscope endoscope system

Technical Field

The invention relates to the technical field of medical instruments, in particular to a binocular stereo microscope endoscope system.

Background

Deep brain lesion surgery, the field of vision is narrow and small, and the structure is important, needs meticulous operation under microscope magnification, and some pathological changes are blockked by brain tissue, blood vessel, nerve or bone structure, and present operation microscope is the straight line field of vision, can't see by the position pathological change that blocks, sometimes needs the operation person to draw the outer tractive carefully according to experience, and the blindly drags and probably causes the vascular damage to lead to the fact heavy bleeding or nerve damage, causes tumour to remain or the pathological change is handled incompletely. In order to perform a fine operation on a surgical procedure in a direct-view state, an endoscope is generally used as an important surgical device in a fine operation of a brain or the like.

The endoscope is an integrated monitoring instrument integrating various technologies such as optics, ergonomics, precision machinery, modern electronics, mathematics, software and the like, and consists of three major parts, namely an endoscope system, an image display system and an illumination system. Endoscopes are increasingly used in medical treatment, and a neuroendoscope commonly used in neurosurgery is adopted in the endoscope, and lenses thereof can be divided into two main categories: one is a hard endoscope (hard lens for short) and the other is a bendable endoscope (soft lens for short).

However, existing neuroendoscopes also have significant disadvantages that limit their applicability to neurosurgical procedures. The existing hard lens can extend into the nasal cavity to a saddle area through the sphenoidal sinus for operation and extend into a ventricle for operation due to the difference of the angles of the wide-angle lens and the lens of the endoscope, and can see a structure which can not be seen by a microscope in a linear view under the endoscope, but can not adapt to irregular operation areas of craniotomy at other parts. The existing bendable soft lens can only be used for operations on specific parts such as the midbrain aqueduct and the like. And the hard lens and the soft lens are single-objective monocular plane vision, have no stereoscopic vision sense and need repeated training and adaptation by an operator. And when needing accurate operation because the operator does not have the stereovision sense, has the mistake and judges the risk that the depth causes the accidental injury, in addition, hard mirror often needs operator or assistant to hold the mirror body with the hand, and the operation process is extremely inconvenient and has still increased the inaccuracy and the danger of operation.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a binocular stereo microscope endoscope system which can meet the requirement of irregular shapes of different operation areas, enables an operator to have a stereo vision feeling and enables the operation to be more convenient, precise and accurate.

The binocular stereo microscope endoscope system comprises:

an image processing component;

the binocular component comprises a pair of eyepieces which are arranged in parallel and have adjustable pupil distance, and the pair of eyepieces are electrically connected with the image processing component;

the stereoscopic endoscope assembly comprises a lens component and a bendable endoscope body component, the lens component has a specific lens inclination angle, the lens component is electrically connected with the image processing assembly, the front end of the lens component faces a target observation point, and the endoscope body component is connected to the rear end of the lens component.

In some embodiments, the stereoscopic endoscope also comprises a bracket assembly which can be connected with an operating table, and the binocular component and the stereoscopic endoscope component are respectively and movably connected on the bracket assembly.

In some embodiments, the bracket assembly comprises:

the main rod comprises a first section and a second section, the first section is positioned on the side surface of the operating bed, the second section is positioned above the operating bed, the first section is connected with the second section, the three-dimensional endoscope assembly is connected to the second section through an endoscope fixing seat, and the endoscope fixing seat can move on the second section;

the first base can be connected to one side of the operating table and comprises a first adapter, the first section is inserted into the first adapter, and the first adapter can be screwed and fixed on the first section;

one end of the strut is connected to the second section through a second adapter, the second adapter can move along the axial direction of the second section and rotate around the main rod, and an included angle between the strut and the main rod can be changed through autorotation;

the second base is rotatably connected to the other end of the supporting rod through a rotating adjusting element, and the binocular component is fixed on the second base.

In some embodiments, the binocular component further comprises a pupil distance adjusting element and a sliding groove, the sliding groove is arranged on the end surface of the second base, which faces away from the supporting rod, and the pair of eyepieces are respectively embedded in the sliding groove in a sliding manner; the pupil distance adjusting element is connected to one side of the sliding groove and used for driving the pair of eyepieces to respectively gather or separate along the sliding groove in a sliding manner.

In some embodiments, the stereoscopic endoscope assembly further comprises an endoscope tail part, the endoscope tail part is connected to one end, far away from the lens part, of the endoscope body part, and anti-slipping lugs are arranged on two sides of the endoscope tail part respectively; the scope fixing base passes through the flexible regulating spindle to be connected with the scope mounting, the scope mounting includes a pair of scope support pincers foot and third fastener, the third fastener passes a pair ofly the one end of scope support pincers foot is a pair of in order to drive the centre gripping that the other end ability of scope support pincers foot is relative is in the both sides of mirror tail part, it is a pair of wear on the scope support pincers foot the tip of third fastener with the flexible regulating spindle is connected.

In some embodiments, the endoscope fixing seat comprises a fixing seat body, a first fastening piece and a second fastening piece, wherein the first fastening piece and the second fastening piece are respectively arranged on the fixing seat body; the first fastener is connected with the flexible adjusting shaft connected to one end of the fixed seat body and used for driving the flexible adjusting shaft to switch between a locking state and a movable state; the fixing seat body is internally provided with a clamping cavity for the second section of the main rod to pass through, and the second fastener can pass through the fixing seat body and tightly prop against the second section so that the fixing seat body can be fixed on the second section.

In some embodiments, the first base includes a first adapter, a first movable portion and a first adjusting member, the first movable portion is connected to the operating table, a through hole is radially formed in the first adapter, and the first section of the main rod is movably inserted into the through hole; the first adapter and the first movable part are connected through end faces and can rotate relative to each other, and tooth grooves are formed in the end faces; first regulating part passes in proper order first switching seat and first movable part first regulating part is in under the state of screwing up, first section compresses tightly to be fixed in first switching seat, and first regulating part will first movable part top is tightly fixed one side of operation table.

In some embodiments, the second adapter is connected to the strut through a second movable portion, the second adapter and the second movable portion are respectively provided with a through hole along respective radial directions, and the second section of the main rod and the strut are respectively inserted into the through holes of the second adapter and the second movable portion correspondingly; the second adapter and the second movable part are connected through end faces and can rotate relative to each other, and tooth grooves are formed in the end faces; the second adjusting piece penetrates through the second adapter and the second movable portion in sequence, and the second section and the supporting rod can be pressed and fixed in the second adapter and the second movable portion respectively under the condition that the second adjusting piece is in a screwing state.

In some embodiments, the lens component includes an illumination lens and two objective video lenses, two sides of the illumination lens are respectively provided with one objective video lens, the focal axes of the two objective video lenses are focused on a focal point, the focal point is located in front of the lens component, and the two objective video lenses are respectively connected with a charge coupling element;

the stereoscopic endoscope assembly further comprises an optical cable, the optical cable comprises an optical fiber and a video input cable, the illuminating lens is electrically connected with the image processing assembly through the optical fiber, the two objective lens video lenses are electrically connected with the image processing assembly through the video input cable respectively or together, and the optical fiber and the video input cable are embedded in the inner cavity of the endoscope body component in parallel.

In some embodiments, the image processing assembly includes a cold light source, an image processing host and a display, the illumination lens is electrically connected with the cold light source through the optical fiber, the two objective video lenses are electrically connected with the image processing host through the video input cable respectively or together, the image processing host is further electrically connected with the binocular lens assembly through an eyepiece video output cable, and the display is electrically connected with the image processing host.

One or more technical solutions in the embodiments of the present invention have at least one of the following technical effects:

the binocular stereo microscope endoscope system comprises at least one replaceable stereo endoscope component, the stereo endoscope component comprises a lens component and a bendable endoscope body component, the lens component has a specific lens inclination angle, and the stereo endoscope components with different inclination angles are replaced, so that larger sight refraction can be obtained in the operation, and the visual field range is enlarged; the front end of the lens component is driven to face the target observation point by bending the lens body component, so that when the three-dimensional endoscope component extends into the focus position, the video data of the target observation point at each position can be accurately acquired by properly bending the lens body component and matching with the lens component at the current lens inclination angle, the sight direction can be changed in real time according to the requirement, the visual field range is expanded, the visualization of a linear visual field blind area is achieved, the bendable lens body component can well meet the requirements of irregular shapes of different operation areas, the operation of influencing each instrument of an operation to enter and exit the focus position can be greatly reduced, and the operation risk is effectively reduced;

furthermore, in the binocular stereo microscope endoscope system, the lens component is electrically connected with the image processing component through the endoscope body component, so that the video data of the target observation point at the focus position collected by the stereo endoscope component can be transmitted to the image collecting component;

furthermore, in the binocular stereo microscope endoscope system, the binocular component can enable an operator to generate stereo vision by means of a binocular structure, so that the operation is more convenient, precise and accurate; the pair of eyepieces are electrically connected with the image processing assembly, so that the stereoscopic video images processed by the image processing assembly can be received;

furthermore, in the binocular stereo microscope endoscope system, the binocular component comprises a pair of eyepieces which are arranged in parallel and have adjustable pupil distance, and the pupil distance of the eyepieces is adjustable, so that the pupil distance adaptability of the pair of eyepieces is adjusted to be consistent with the pupil distance of the eyes of an operator, the posture of the binocular component is better consistent with that of the operator, the operation of the operator is facilitated, the operator can observe more accurate stereo video from the binocular component in the operation, the accuracy of the operation process is improved, and the operation misjudgment and the accidental injury are reduced.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic view of a binocular stereo endomicroscopy system according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a binocular component provided by an embodiment of the present invention;

FIG. 3 is a front view of a stereoscopic endoscope assembly according to an embodiment of the present invention;

FIG. 4 is an enlarged cross-sectional view taken at A shown in FIG. 3;

FIGS. 5-1 to 5-3 are three-dimensional schematic views of three lens tilts at A in FIG. 3, respectively;

figure 6 is a side view of a stereoscopic endoscope assembly provided by an embodiment of the present invention;

FIG. 7 is a schematic view of the use state of the mirror body part provided by the embodiment of the invention;

figure 8 is a schematic structural view of an endoscope support assembly provided by an embodiment of the present invention;

fig. 9 is a schematic diagram of binocular stereoscopic vision provided by an embodiment of the present invention;

fig. 10 is a schematic diagram of a binocular stereo endomicroscopy system according to an embodiment of the present invention.

Reference numerals:

1: a stereoscopic endoscope assembly; 2: a binocular component; 3: a first base; 31: a first adapter; 32: a first movable portion; 4: a main rod; 41: a first stage; 42: a second stage; 51: a second adapter; 52: a second movable portion; 6: a strut; 7: a second base; 8: a chute; 9: a pupil distance adjusting element; 10: rotating the adjustment element; 11: a first adjustment member; 12: a second adjustment member; 13: an eyepiece video output cable; 14: an optical fiber; 15: a video input cable; 16: a cold light source; 17: an image processing host; 18: a display; 19: an endoscope fixing member; 20: an endoscope fixing seat; 21: a flexible adjustment shaft; 22: a first fastener; 23: a second fastener; 24: anti-slipping lugs; 25: an endoscope bracket clamp foot; 26: a third fastener; 27: a target observation point; p: a focal point; q: the inclination angle of the lens;

100: a lens component; 200: a mirror body member; 300: a mirror tail part; 400: both eyes of the operator; 110: an illumination lens; 120: an objective video lens; 130: a charge-coupled element; 310: an optical cable;

400: two eyes; 600: brain imaging.

Detailed Description

The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. Specific meanings of the above terms in the embodiments of the present invention can be understood in specific cases by those of ordinary skill in the art.

In embodiments of the invention, unless expressly stated or limited otherwise, a first feature may be "on" or "under" a second feature such that the first and second features are in direct contact, or the first and second features are in indirect contact via an intermediary. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

As shown in fig. 1 to 10, an embodiment of the present invention provides a binocular stereo endomicroscopy system (which is simply referred to as a system in the embodiment of the present invention). The system comprises an image processing assembly, a binocular assembly 2 and at least one interchangeable stereoscopic endoscope assembly 1. Wherein, the image processing subassembly is used for carrying out data processing from the video image data that three-dimensional scope subassembly 1 received, and send the video data after handling to binocular subassembly 2, thereby make the art person (the operator promptly) stretch into three-dimensional scope subassembly 1 such as the intracranial arbitrary operation region that has irregular passageway such as nerve, blood vessel, when between the bone crest, can observe the focus position that straight line sight is blockked in this operation region, meanwhile, borrow transmission and processing by video data, the art person can directly observe three-dimensional video image through binocular subassembly 2, thereby have the sense of stereovision, make the operation of this system more convenient, meticulous and accurate, and then make the operation of fine neuropathy operation such as brain become the operation under the three-dimensional visual state from the lesion region that originally can't look directly, improve the meticulous degree and the operation security of pathological change processing greatly.

It can be understood that the observation position of the stereoscopic endoscope assembly 1 is taken as the target observation point 27 in the embodiment of the invention.

As shown in fig. 1, in the system according to the embodiment of the present invention, the stereoscopic endoscope assembly 1 includes a lens component 100 and a bendable body component 200, and the lens component 100 has a specific lens tilt angle Q. Preferably, as shown in fig. 5-1 to 5-3, a plurality of stereoscopic endoscope assemblies 1 with different lens inclination angles Q can be prepared in advance, and by replacing the stereoscopic endoscope assemblies 1 with different lens inclination angles, a larger line of sight refraction can be obtained in the operation, and the visual field range can be enlarged. It can be understood that, in the present embodiment, the symmetric axis in the width direction of the flat tubular endoscope body component 200 is used as a reference axis, and an included angle between the focus of the stereoscopic endoscope assembly 1 and the reference axis is the lens tilt angle Q of the stereoscopic endoscope assembly 1.

In this embodiment, the front end of the lens component 100 faces the target observation point 27, the target observation point 27 is a position to be observed in the focus position, and the focal point P of the lens component 100 may be overlapped with the target observation point 27 when observing the target observation point 27. The scope body part 200 is connected to the front end of the lens part 100, so that the scope body part 200 can be bent as required when the component 1 in the three-dimensional object extends into the focus position, and the bent state of the scope body part 200 is matched with the lens inclination angle Q of the lens part 100 on the current three-dimensional endoscope component 1, so that the three-dimensional endoscope component 1 can observe the focus position more comprehensively, the visual field range is effectively expanded, and the multi-angle bending of the scope body part 200 can be utilized to enable the three-dimensional endoscope component 1 to adapt to the requirements of different operation area irregular shapes.

In this embodiment, the lens component 100 is electrically connected to the image processing component, so as to transmit the video data of the target observation point 27 at the focal position acquired by the component 1 in the three-dimensional object to the image acquisition component.

In the embodiment, the binocular component 2 comprises a pair of eyepieces which are arranged in parallel and have adjustable pupil distance, so that an operator can generate stereoscopic vision feeling by means of a binocular structure, and the operation is more convenient, precise and accurate; the pair of eyepieces are electrically connected with the image processing assembly, so that the stereoscopic video images processed by the image processing assembly can be received.

It is understood that the front end of the scope body part 200 refers to an end of the scope body part 200 extending into the operation area, and similarly, the rear end of the scope body part 200 refers to an end of the scope body part 200 far away from the operation area.

It will be appreciated that the binocular component 2 of the present embodiment utilizes the principle of binocular stereo vision to enable the operator's eyes 400 to directly view a stereoscopic video through a pair of eyepieces. The specific principle is as shown in fig. 9 and fig. 10, this binocular stereoscopic micro-endoscope system utilizes the plastic deformation of the body part 200 of the stereoscopic endoscope subassembly 1, the cooperation has the lens part 100 of the left and right dual-vision way, in transmitting the two-way video to the image processing subassembly synchronously, then after processing the two-way video data through the image processing subassembly, transmit the three-dimensional video that forms to the binocular subassembly 2, thereby make the operator's eyes 400 directly observe the video image through the binocular subassembly 2, and produce the sense of stereovision through brain formation of image 600.

In one embodiment, the system further includes a support assembly capable of being coupled to the surgical bed. The structure of the bracket assembly is shown in fig. 1 and 2. The binocular component 2 and the stereoscopic endoscope component 1 are respectively movably connected to the bracket component. Preferably, the movable connection of binocular component 2 is at the top of bracket component, and binocular component 2 sets up height and gradient and can set up according to human engineering to when the operator observes the video image of target observation point 27 with the help of binocular component 2, the operator's posture is more comfortable. The stereoscopic endoscope component 1 can be fixed on the bracket component at a position lower than the binocular component 2, so that the operator can conveniently adjust the position of the stereoscopic endoscope component 1 during observation through the binocular component 2.

In one embodiment, as shown in fig. 2 and 8, the bracket assembly includes a spine 4, a first base 3, a post 6, and a second base 7. The main pole 4 includes a first section 41 located at the side of the operating bed and a second section 42 located above the operating bed, and the first section 41 is connected with the second section 42. Optionally, the second section 42 is arranged obliquely with respect to the first section 41. The stereoscopic endoscope assembly 1 is connected to the second section 42 through the endoscope fixing seat 20, and the endoscope fixing seat 20 can move on the second section 42 to adjust the height and the horizontal position of the stereoscopic endoscope assembly 1. The first base 3 can be attached to one side of the operating table to provide a fixed support point for the support assembly. The first base 3 comprises a first adapter 31, the first section 41 is inserted in the first adapter 31, and the first adapter 31 can be screwed and fixed on the first section 41, and the overall height of the main rod 4, especially the height of the second section 42, is adjusted by using the relative position of the first adapter 31 and the first section 41; and, the first segment 41 can be rotated in the first adapter 31 to adjust the horizontal position of the stereoscopic endoscope assembly 1 and the binocular assembly 2 connected to the second segment 42. One end of the strut 6 is connected to the second section 42 through the second adapter 51, the second adapter 51 can move along the axial direction of the second section 42 and rotate around the main rod 4, and can change the included angle between the strut 6 and the main rod 4 through rotation, thereby realizing three-degree-of-freedom adjustment between the main rod 4 and the strut 6. The second base 7 is rotatably connected to the other end of the supporting rod 6 through a rotating adjusting element 10, the binocular component 2 is fixed on the second base 7, and the levelness of two eyepieces on the binocular component 2 is adjusted by adjusting the rotating angle of the second base 7.

In one embodiment, the first base 3 includes a first adapter 31, a first movable portion 32, and a first adjustment member 11. The first movable portion 32 is connected to the operating bed. The first adapter 31 has a through hole in the radial direction, and the first section 41 of the main rod 4 is movably inserted into the through hole, so that the height of the main rod 4 can be adjusted. The first adapter 31 and the first movable portion 32 are connected by end surfaces and can rotate relative to each other, so as to adjust the angle between the main rod 4 and the operating bed, thereby realizing multi-degree-of-freedom adjustment of the main rod 4. The end face between the first adapter 31 and the first movable part 32 is provided with a tooth groove, and when the first adapter 31 and the first movable part 32 are fastened relatively, the tooth groove can increase friction, so that the first adapter 31 and the first movable part 32 are more reliably fixed, and the first adapter 31 and the first movable part 32 are prevented from rotating and slipping. The first adjusting part 11 sequentially penetrates through the first adapter 31 and the first movable part 32, the first section 41 is pressed and fixed in the first adapter 31 when the first adjusting part 11 is in a screwed state, and the first movable part 32 is tightly fixed on one side of the operating table by the first adjusting part 11, so that the positions of the main rod 4, the first base 3 and the operating table are reliably fixed.

In one embodiment, the second adapter 51 is connected to the strut 6 via the second movable portion 52. The method specifically comprises the following steps: the second adapter 51 and the second movable portion 52 are respectively provided with a through hole along the respective radial direction, and the second section 42 of the main rod 4 and the strut 6 are respectively and correspondingly inserted into the through holes of the second adapter 51 and the second movable portion 52, so as to adjust the relative position and height between the main rod 4 and the strut 6. The second adapter 51 and the second movable portion 52 are connected by end surfaces and can rotate relative to each other, so as to adjust the included angle between the main rod 4 and the strut 6, and thus, the adjustment of multiple degrees of freedom of the strut 6 is realized. The end face between the second adapter 51 and the second movable portion 52 is provided with a tooth socket, which can increase friction, so that the second adapter 51 and the second movable portion 52 are more reliably fixed, and the second adapter 51 and the second movable portion 52 are prevented from rotating and slipping. The end face, far away from the second movable portion 52, of the second adapter 51 is connected with a second adjusting piece 12, the second adjusting piece 12 sequentially penetrates through the second adapter 51 and the second movable portion 52, and when the second adjusting piece 12 is in a screwed state, the second section 42 and the strut 6 can be pressed and fixed in the second adapter 51 and the second movable portion 52 respectively, so that the position, the height and the included angle between the main rod 4 and the strut 6 are reliably fixed.

It will be appreciated that the first and

second adjustment members

11, 12 may alternatively be adjustment screws with rotating handles.

In one embodiment, as shown in figure 2, binocular assembly 2 includes a pair of eyepieces as described above, as well as interpupillary distance adjustment element 9 and chute 8. The pair of eyepieces have the same structure and are electrically connected with the image processing assembly through the eyepiece video output cables 13 respectively. The sliding groove 8 is arranged on the end surface of the second base 7 back to the support rod 6, and the pair of eyepieces are respectively embedded in the sliding groove 8 in a sliding manner; the interpupillary distance adjusting element 9 is connected to one side of the chute 8, and the interpupillary distance adjusting element 9 is used for driving a pair of eyepieces to respectively focus or separate in a sliding manner along the chute 8, thereby adjusting the interpupillary distance of the pair of eyepieces.

It is understood that the interpupillary distance refers to the distance between the barrel axes of the pair of eyepieces described above. The rotation adjusting element 10 and the interpupillary distance adjusting element 9 are preferably adjusting screws or adjusting screws.

In one embodiment, as shown in fig. 1, 3, 4 and 6, the lens component 100 of the stereoscopic endoscope assembly 1 includes two objective video lenses 120. Further, the lens component 100 also includes an illumination lens 110.

In one embodiment, two objective video lenses 120 are disposed on two sides of the illumination lens 110, and the focal axes of the two objective video lenses 120 are focused at the focal point P. It should be clear that the two objective video lenses 120 are respectively fixed on the body portion of the lens component 100, since the body portions of the lens components 100 of different stereoscopic endoscope assemblies 1 can have different inclination angles with respect to the symmetric axis in the width direction of the lens component 200, so that the lens inclination angles Q of the lens components 100 of different stereoscopic endoscope assemblies 1 are different, but the two objective video lenses 120 of all the lens components 100 of the stereoscopic endoscope assemblies 1 are fixed on the body portion of the current lens component 100, so the focal points P of the two objective video lenses 120 are always located in front of the lens component 100 no matter what angle the lens inclination angle Q of the lens component 100 of the currently used stereoscopic endoscope assembly 1 is, and the included angle of the focal axes of the two objective video lenses 120 is always kept constant, as shown in fig. 5-1 to 5-3.

It can be appreciated that in order to obtain the best source of photographic light, it is preferable that the focal axis of the illumination lens 110 and the focal axes of the two objective video lenses 120 are both focused at a focal point P.

It should be noted that the two objective video lenses 120 may be mounted at any position on the body portion of the lens assembly 100. For example, as shown in fig. 5-1, the illumination lens 110 and the two objective video lenses 120 are simultaneously fixed to the bottom of the body portion of the lens assembly 100 such that the focal point P falls on the reference axis, i.e., the lens tilt angle Q of the current stereoscopic endoscope assembly 1 is 0 °. For example, as shown in fig. 5-3, the illumination lens 110 and the two objective video lenses 120 are simultaneously fixed on the side of the body portion of the lens component 100, and at this time, the included angle between the focal axes of the two objective video lenses 120 is not changed, but an included angle of 90 ° is formed between the focal point P and the reference axis, that is, the lens tilt angle Q of the current stereoscopic endoscope assembly 1 is 90 °. As shown in fig. 5-2, the illumination lens 110 and the two objective video lenses 120 are fixed to the bottom of the body portion of the lens component 100, and the body portion of the lens component 100 is bent with respect to the reference axis, at this time, the included angle between the focal axes of the two objective video lenses 120 is not changed, but the focal point P and the reference axis form an included angle larger than 0 ° and smaller than 90 °, that is, the lens tilt angle Q of the current stereoscopic endoscope assembly 1 is larger than 0 ° and smaller than 90 °. The value range of the lens inclination angle Q in this embodiment is preferably 0 ° -Q ≤ 90 °, and it is further preferable to prepare the stereoscopic lens assembly 1 with the lens inclination angles Q of 0 °, 30 °, 45 °, 70 °, and 90 ° in advance for replacement.

In one embodiment, the body member 200 of the stereoscopic endoscope assembly 1 can be curved in the longitudinal direction to be shaped to have a suitable curvature for placement at a desired location in the surgical field, as shown in FIG. 7.

It can be understood that, in the stereoscopic endoscope assembly 1 according to the embodiment of the present invention, the axial direction of the stereoscopic endoscope assembly 1 refers to the direction along the entire length of the lens component 100, the lens body component 200 and the optical cable 310, the transverse direction of the stereoscopic endoscope assembly 1 refers to the long diameter direction of the metal corrugated flat tubes of the lens body component 200, and the longitudinal direction of the stereoscopic endoscope assembly 1 refers to the short diameter direction of the metal corrugated flat tubes of the lens body component 200.

As shown in fig. 4, the two objective lenses 120 are respectively connected to a charge coupled device 130, so as to respectively obtain two paths of video data through the two objective lenses 120 by using the charge coupled device 130 (for short, a CCD device).

In one embodiment, as shown in figures 3, 6 and 8, the stereoscopic endoscope assembly 1 further comprises a scope tail component 300. The mirror tail component 300 is attached to the mirror body component 200 at an end remote from the lens component 100 to provide a clamping attachment area for the endoscope retaining member 19. The endoscope fixing member 19 includes a pair of endoscope holder legs 25 and a third fastener 26, the third fastener 26 passes through one end of the pair of endoscope holder legs 25 to drive the other end of the pair of endoscope holder legs 25 to be clamped at both sides of the endoscope tail member 300 in a manner of being opposite, and the end of the pair of endoscope holder legs 25 passing through the third fastener 26 is connected with the flexible adjusting shaft 21. The two sides of the endoscope tail component 300 are respectively provided with an anti-slip ear 24, and the anti-slip ears 24 can prevent the stereoscopic endoscope component 1 from slipping from the forceps feet of the endoscope fixing component 19. The endoscope fixing seat 20 is connected with the endoscope fixing piece 19 through a flexible adjusting shaft 21.

The endoscope fixing member 19 of the present embodiment is clamped to the mirror tail member 300 of the stereoscopic mirror assembly 1 by two L-shaped endoscope holder legs 25. The method specifically comprises the following steps: the lens body part 200 is preferably a corrugated flat tube which can be bent and shaped to a certain extent in the longitudinal direction and cannot be bent in the transverse direction; one end of the two L-shaped endoscope holder legs 25 is split clamped on the wider two surfaces of the scope body part 300 so that the endoscope fixing member 19 can provide a reliable fixing support for the scope body part 200. The other ends of the two L-shaped endoscope holder legs 25 are connected to each other at one end of the flexible adjustment shaft 21, and the ends of the two L-shaped endoscope holder legs 25 connected to the flexible adjustment shaft 21 are locked by a third fastener 26 to increase the holding force of the endoscope holder legs 25 on the scope tail member 300. One side anti-slip ear 24 penetrates into the small hole of the endoscope bracket clamp foot 25, so that the endoscope fixing piece 19 is locked and fixed on the endoscope tail part 300 through a third fastener 26.

In one embodiment, the endoscope retaining base 20 includes a retaining base body, a first fastener 22, and a second fastener 23. As shown in fig. 8, the first fastening member 22 and the second fastening member 23 are respectively provided on the holder body. The first fastening member 22 is connected to the flexible adjusting shaft 21 connected to one end of the fixing base body, and is configured to drive the flexible adjusting shaft 21 to switch between a locking state (i.e., a fixed non-variable state) and a movable state (i.e., a loose state). The flexible adjustment shaft 21 is free to flex when in a relaxed state and the flexible adjustment shaft 21 is in a fixed, non-variable state when the first fastener 22 is tightened. The state change of the flexible adjusting shaft 21 is controlled by the first fastener 22, so that the position of the endoscope fixing member 19 can be changed according to the requirement, and the endoscope fixing member 19 is fixed and stopped at any position. The fixing base body is internally provided with a clamping cavity for the second section 42 of the main rod 4 to pass through, and the second fastener 23 can pass through the fixing base body and tightly push against the second section 42, so that the fixing base body can be fixed on the second section 42, and the position and the height of the endoscope fixing base 20 on the main rod 4 can be conveniently changed.

It is understood that the first fastener 22, the second fastener 23 and the third fastener 25 are preferably fastening screws, although other fasteners may be used, and are not particularly limited herein.

In one embodiment, as shown in figures 3 and 4, the stereoscopic endoscope assembly 1 further comprises an optical cable 310. The optical cable 310 includes an optical fiber 14 and a video input cable 15. The illumination lens 110 is electrically connected with the image processing component through the optical fiber 14, the two objective video lenses 120 are electrically connected with the image processing component through the video input cable 15 respectively or together, and the optical fiber 14 and the video input cable 15 are embedded in the inner cavity of the lens body part 200 in parallel.

In one embodiment, the image processing components include a cold light source 16, an image processing host 17, and a display 18. The cold light source 16 and the image processing host 17 are respectively electrically connected with the stereoscopic endoscope component 1, the image processing host 17 is also electrically connected with the binocular component 2, and the display 18 is electrically connected with the image processing host 17.

In one embodiment, as shown in fig. 1, the illumination lens 110 is electrically connected to the cold light source 16 through an optical fiber 14, the two objective video lenses 120 are electrically connected to the image processing host 17 through two video input cables 15, respectively, and the image processing host 17 is further electrically connected to the binocular component 2 through an eyepiece video output cable 13. It will be appreciated that two objective video lenses 120 may be connected together on the same video input cable 15 to achieve cable merging and optimize the line.

It is understood that fig. 1 illustrates a physical structure diagram of the image processing host 17. As shown in fig. 2, the image processing host 17 may include: the processor (processor, communication Interface, memory, and communication bus, where the processor, communication Interface, and memory complete communication with each other through the communication bus, the processor may call logic instructions in the memory to implement image processing work, that is, processing two-way video data into a stereoscopic image and/or a stereoscopic video image as described in this embodiment.

In one embodiment, the two objective video lenses 120 of the lens assembly 100 are externally wrapped with a metal outer layer, and at least one illumination lens 110 is sandwiched between the two objective video lenses 120. All the illumination lenses 110 are in the same direction as the focal points P of the two objective video lenses 120 in the horizontal and vertical directions, and the focal point P focused by the two objective video lenses 120 is the target observation point 27. As shown in fig. 4, the outer wall of the mirror body part 200 is provided with a metal corrugated flat tube, two video input cables 15 are arranged on the left and right sides of the cross section of the metal corrugated flat tube, an optical fiber 14 connected with a cold light source 16 is arranged in the middle of the two video input cables 15, and the corrugated structure of the mirror body part 200 can be bent and shaped to a certain extent in the longitudinal direction, as shown in fig. 7, so as to adapt to operation regions with different shapes and specifications. The mirror tail part 300 is of a hard metal structure connected with the optical cable 310, and anti-slip lugs 24 are arranged on two sides of the mirror tail part 300 and used for being inserted into side holes of clamp feet 25 of the endoscope fixing piece 19. The outer surface of the optical cable 310 is covered by a soft outer covering for intraoperative free placement without affecting lens fixation. The tail part of the optical cable 310 realizes the separation of the optical cable and the cable, namely, the connection between the interface end connection optical fiber 14 and the cold light source 16, and the electrical connection between the two video input cables 15 and the left and right input ports of the video processing unit of the image processing host 17. The input signals of the two paths of video data are respectively output to the binocular component 2 after passing through the image processing host 17, so that an operator can feel stereoscopic vision feeling in the stereoscopic vision state of the binocular component 2, and fine operation is performed.

Before the system is operated to operate, the front and back positions and the high and low positions of the main rod 4 on the operating bed are adjusted, the left and right positions of the adapter 5 on the main rod 4 are adjusted, and the length position and the up and down angle of the supporting rod 6 are adjusted, so that the binocular component 2 is positioned at a height suitable for observation of an operator. After the adjustment is finished, the first adjusting part 11 and the second adjusting part 12 are screwed down, so that the whole bracket assembly is in a fixed state. The pair of eyepieces are relatively moved along the slide groove 8 by rotating the interpupillary distance adjusting member 9 so that the interpupillary distance of the pair of eyepieces coincides with the operator. The second base 7 is rotated by adjusting the rotation adjusting element 10, so that the binocular component 2 can better accord with the operation posture of an operator.

In the operation process of the system, the selected stereoscopic endoscope assembly 1 with the specific inclination angle Q is installed in the system according to the connection relationship, the cold light source 16 is transmitted to the illumination lens 110 through the optical fiber 14, the observation angle of the stereoscopic endoscope assembly 1 can be changed by changing the curvature of the endoscope body part 200, the visual field range of the stereoscopic endoscope assembly 1 in the operation region is expanded, and therefore video data of a blind area which cannot be illuminated by a microscope straight line light can be acquired, as shown in fig. 7 and fig. 5-1 to fig. 5-3.

The bilateral video objective lens respectively collects images through a CCD element, and inputs two-way video data into an image processing host 17 through two video input cables 15. The image processing host 17 transmits the processed stereoscopic video to a pair of eyepieces through two eyepiece video output cables 13, so that an operator can obtain the stereoscopic video with stereoscopic vision feeling through the binocular component 2, thereby performing an operation in a stereoscopic vision state. Meanwhile, the image processing host 17 can further output the stereoscopic video signal to the display 18, so that an assistant or a visitor can share the stereoscopic video image by wearing polarized glasses.

The above embodiments are merely illustrative of the present invention and are not to be construed as limiting the invention. Although the present invention has been described in detail with reference to the embodiments, it should be understood by those skilled in the art that various combinations, modifications or equivalents may be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention, and the technical solution of the present invention is covered by the claims of the present invention.

Claims

1. A binocular stereo-microscopy endoscope system, comprising:

an image processing component;

the binocular component (2) comprises a pair of eyepieces which are arranged in parallel and have adjustable pupil distance, and the pair of eyepieces are electrically connected with the image processing component;

the stereoscopic endoscope assembly (1) comprises a lens component (100) and a bendable body component (200), a symmetry axis in the width direction of the body component (200) is a reference axis, a lens inclination angle (Q) is an included angle between a focus of the stereoscopic endoscope assembly (1) and the reference axis, the lens component (100) has a specific lens inclination angle (Q), the lens component (100) is electrically connected with the image processing component, the front end of the lens component (100) faces a target observation point (27), the body component (200) is connected to the rear end of the lens component (100), the lens component (100) comprises an illuminating lens (110) and two objective video lenses (120), the two sides of the illuminating lens (110) are respectively provided with one objective video lens (120), an included angle is formed between the two objective video lenses (120), the focus axes of the two objective video lenses (120) are focused on a focus point (P), the focus point (P) is located in front of the illuminating lens component (110), and the focus point (27) is formed at the target observation point (P);

the stereoscopic endoscope assembly is characterized by further comprising a bracket assembly which can be connected with an operating table, the binocular component (2) and the stereoscopic endoscope assembly (1) are movably connected to the bracket assembly respectively, and the stereoscopic endoscope assembly (1) is fixed on the bracket assembly at a position lower than the binocular component (2);

the bracket assembly includes: a main shaft (4) comprising a second section (42) located above the operating bed; branch (6), one end is passed through second adapter (51) and is connected on second section (42), second adapter (51) can be followed the axial displacement of second section (42) and around mobile jib (4) are rotatory, and can change through the rotation branch (6) with the contained angle of mobile jib (4).

2. The binocular stereo endomicroscopy system of claim 1, wherein the stent assembly further comprises:

the main rod (4) comprises a first section (41) positioned on the side surface of the operating table, the first section (41) is connected with a second section (42), the three-dimensional endoscope assembly (1) is connected to the second section (42) through an endoscope fixing seat (20), and the endoscope fixing seat (20) can move on the second section (42);

a first base (3) attachable to one side of the operating bed, the first base (3) comprising a first adapter (31), the first section (41) being inserted in the first adapter (31), and the first adapter (31) being screwably securable to the first section (41);

the second base (7) is rotatably connected to the other end of the supporting rod (6) through a rotating adjusting element (10), and the binocular component (2) is fixed on the second base (7).

3. The binocular stereo endomicroscopy system according to claim 2, wherein the binocular component (2) further comprises a interpupillary distance adjusting element (9) and a chute (8), the chute (8) is arranged on an end surface of the second base (7) facing away from the strut (6), and a pair of the eyepieces are respectively slidably embedded in the chute (8); the pupil distance adjusting element (9) is connected to one side of the sliding groove (8) and used for driving the pair of eyepieces to respectively gather or separate along the sliding groove (8) in a sliding manner.

4. The binocular stereo endomicroscopy system according to claim 2, wherein the stereo endoscope assembly (1) further comprises a mirror tail part (300), the mirror tail part (300) is connected to one end of the mirror body part (200) far away from the lens part (100), and anti-slipping lugs (24) are respectively arranged on two sides of the mirror tail part (300); scope fixing base (20) are connected with scope mounting (19) through flexible regulating shaft (21), scope mounting (19) include a pair of scope support pincers foot (25) and third fastener (26), third fastener (26) pass a pair ofly the one end of scope support pincers foot (25) is in order to drive a pair of centre gripping that the other end of scope support pincers foot (25) can be relative is in the both sides of mirror tail part (300), it is a pair of wear on scope support pincers foot (25) the tip of third fastener (26) with flexible regulating shaft (21) are connected.

5. The binocular stereo microscope endoscope system according to claim 4, wherein the endoscope holder (20) includes a holder body, a first fastener (22) and a second fastener (23), the first fastener (22) and the second fastener (23) being respectively provided on the holder body; the first fastening piece (22) is connected with the flexible adjusting shaft (21) connected to one end of the fixed seat body and used for driving the flexible adjusting shaft (21) to be switched between a locking state and a movable state; the fixing seat body is internally provided with a clamping cavity for the second section (42) of the main rod (4) to pass through, and the second fastener (23) can pass through the fixing seat body and tightly prop against the second section (42) so that the fixing seat body can be fixed on the second section (42).

6. The binocular stereo microscope endoscope system according to claim 2, wherein the first base (3) comprises a first adapter (31), a first movable part (32) and a first adjusting member (11), the first movable part (32) is connected with the operating table, a through hole is formed in the radial direction of the first adapter (31), and the first section (41) of the main rod (4) is movably inserted into the through hole; the first adapter (31) and the first movable part (32) are connected through end faces and can rotate relative to each other, and tooth grooves are formed in the end faces; first regulating part (11) pass in proper order first switching seat (31) and first movable part (32) first regulating part (11) are in under the state of screwing up, first section (41) compress tightly to be fixed in first switching seat (31), and first regulating part (11) will first movable part (32) top is tightly fixed one side of operation table.

7. The binocular stereo microscope endoscope system according to claim 2, wherein the second adapter (51) is connected with the strut (6) through a second movable portion (52), the second adapter (51) and the second movable portion (52) are respectively provided with a through hole along respective radial directions, and the second section (42) of the main rod (4) and the strut (6) are respectively and correspondingly inserted into the through holes of the second adapter (51) and the second movable portion (52); the second adapter (51) and the second movable part (52) are connected through end faces and can rotate relative to each other, and tooth grooves are formed in the end faces; the end face, far away from second movable part (52), of second adapter (51) is connected with second adjusting part (12), second adjusting part (12) passes through second adapter (51) and second movable part (52) in proper order second adjusting part (12) are in the state of screwing up, second section (42) with branch (6) can compress tightly respectively to be fixed in second adapter (51) and second movable part (52).

8. The binocular stereo endomicroscopy system according to any one of claims 1 to 7, wherein a charge-coupled device (130) is connected to each of the two objective video lenses (120);

the stereoscopic endoscope assembly (1) further comprises an optical cable (310), the optical cable (310) comprises an optical fiber (14) and a video input cable (15), the illuminating lens (110) is electrically connected with the image processing assembly through the optical fiber (14), the two objective lens video lenses (120) are respectively or jointly electrically connected with the image processing assembly through the video input cable (15), and the optical fiber (14) and the video input cable (15) are embedded in the inner cavity of the endoscope body part (200) in parallel.

9. The binocular stereo endomicroscopy system according to claim 8, wherein the image processing assembly comprises a cold light source (16), an image processing host (17) and a display (18), the illumination lens (110) is electrically connected with the cold light source (16) through the optical fiber (14), the two objective video lenses (120) are electrically connected with the image processing host (17) through the video input cable (15) respectively or together, the image processing host (17) is further electrically connected with the binocular component (2) through an eyepiece video output cable (13), and the display (18) is electrically connected with the image processing host (17).